EP 0592681 A4 19961016 - TOOL COORDINATES DEFINITION SYSTEM
Title (en)
TOOL COORDINATES DEFINITION SYSTEM
Publication
Application
Priority
- JP 8091192 A 19920402
- JP 9300340 W 19930323
Abstract (en)
[origin: WO9320491A1] A tool coordinates definition system capable of easily obtaining a transformation matrix for defining a tool coordinates system of a robot. The tool coordinates system (10C) at the 0 DEG position of the robot is rotated around each axis so that the tool coordinates system (10C) becomes parallel to a base coordinates system (10A). A transformation matrix (XO) representing the relation of inclination between the hand coordinates system (10B) and the tool coordinates system (10C) is determined on the basis of an angle of rotation around each axis (P, Q, R) at that time and a matrix [HAND O] representing the attitude of the hand coordinates system at the 0 DEG position. The attitude of the hand coordinates system (10B) at the 0 DEG position can be obtained easily from a design value. An angle of rotation around each axis, too, can be obtained easily from a drawing, etc. Therefore, the transformation matrix (XO) can be easily determined without practically causing the robot (10) to take an attitude so that the tool coordinates system (10C) and the hand coordinates system (10B) become parallel to each other. The tool coordinates system (10C) is defined by the use of the transformation matrix (XO).
IPC 1-7
IPC 8 full level
B25J 9/10 (2006.01); B25J 9/18 (2006.01); G05B 19/18 (2006.01); G05B 19/408 (2006.01); G05B 19/4093 (2006.01)
CPC (source: EP)
G05B 19/4086 (2013.01); G05B 2219/39398 (2013.01); G05B 2219/39403 (2013.01); G05B 2219/39417 (2013.01)
Citation (search report)
- [A] EP 0417320 A1 19910320 - FANUC LTD [JP]
- See references of WO 9320491A1
Designated contracting state (EPC)
DE IT SE
DOCDB simple family (publication)
WO 9320491 A1 19931014; EP 0592681 A1 19940420; EP 0592681 A4 19961016; JP H05282029 A 19931029; KR 970003879 B1 19970322
DOCDB simple family (application)
JP 9300340 W 19930323; EP 93906805 A 19930323; JP 8091192 A 19920402; KR 930703685 A 19931201